diff --git a/platforms/Kconfig b/platforms/Kconfig
index dcca93f6fd..b3509a84a5 100644
--- a/platforms/Kconfig
+++ b/platforms/Kconfig
@@ -2,6 +2,4 @@ if PLATFORM_NUTTX
 rsource "nuttx/Kconfig"
 endif
 
-if PLATFORM_POSIX || PLATFORM_QURT
 rsource "common/Kconfig"
-endif
diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
index b22910604f..4ce4db1e74 100644
--- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
+++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
@@ -34,6 +34,7 @@
 #pragma once
 
 #include <stdint.h>
+#include <px4_boardconfig.h>
 
 namespace px4
 {
@@ -48,52 +49,55 @@ struct wq_config_t {
 
 namespace wq_configurations
 {
-static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3150, 0}; // PX4 inner loop highest priority
+// All values are now configured via KConfig options.
+// The CONFIG_ macros are generated by the build system.
+static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", CONFIG_WQ_RATE_CTRL_STACKSIZE, (int8_t)CONFIG_WQ_RATE_CTRL_PRIORITY};
 
-static constexpr wq_config_t SPI0{"wq:SPI0", 2392, -1};
-static constexpr wq_config_t SPI1{"wq:SPI1", 2392, -2};
-static constexpr wq_config_t SPI2{"wq:SPI2", 2392, -3};
-static constexpr wq_config_t SPI3{"wq:SPI3", 2392, -4};
-static constexpr wq_config_t SPI4{"wq:SPI4", 2392, -5};
-static constexpr wq_config_t SPI5{"wq:SPI5", 2392, -6};
-static constexpr wq_config_t SPI6{"wq:SPI6", 2392, -7};
+static constexpr wq_config_t SPI0{"wq:SPI0", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI0_PRIORITY};
+static constexpr wq_config_t SPI1{"wq:SPI1", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI1_PRIORITY};
+static constexpr wq_config_t SPI2{"wq:SPI2", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI2_PRIORITY};
+static constexpr wq_config_t SPI3{"wq:SPI3", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI3_PRIORITY};
+static constexpr wq_config_t SPI4{"wq:SPI4", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI4_PRIORITY};
+static constexpr wq_config_t SPI5{"wq:SPI5", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI5_PRIORITY};
+static constexpr wq_config_t SPI6{"wq:SPI6", CONFIG_WQ_SPI_STACKSIZE, (int8_t)CONFIG_WQ_SPI6_PRIORITY};
 
-static constexpr wq_config_t I2C0{"wq:I2C0", 2336, -8};
-static constexpr wq_config_t I2C1{"wq:I2C1", 2336, -9};
-static constexpr wq_config_t I2C2{"wq:I2C2", 2336, -10};
-static constexpr wq_config_t I2C3{"wq:I2C3", 2336, -11};
-static constexpr wq_config_t I2C4{"wq:I2C4", 2336, -12};
+static constexpr wq_config_t I2C0{"wq:I2C0", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C0_PRIORITY};
+static constexpr wq_config_t I2C1{"wq:I2C1", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C1_PRIORITY};
+static constexpr wq_config_t I2C2{"wq:I2C2", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C2_PRIORITY};
+static constexpr wq_config_t I2C3{"wq:I2C3", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C3_PRIORITY};
+static constexpr wq_config_t I2C4{"wq:I2C4", CONFIG_WQ_I2C_STACKSIZE, (int8_t)CONFIG_WQ_I2C4_PRIORITY};
 
 // PX4 att/pos controllers, highest priority after sensors.
-static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 2240, -13};
+static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", CONFIG_WQ_NAV_AND_CONTROLLERS_STACKSIZE, (int8_t)CONFIG_WQ_NAV_AND_CONTROLLERS_PRIORITY};
 
-static constexpr wq_config_t INS0{"wq:INS0", 6000, -14};
-static constexpr wq_config_t INS1{"wq:INS1", 6000, -15};
-static constexpr wq_config_t INS2{"wq:INS2", 6000, -16};
-static constexpr wq_config_t INS3{"wq:INS3", 6000, -17};
+static constexpr wq_config_t INS0{"wq:INS0", CONFIG_WQ_INS_STACKSIZE, (int8_t)CONFIG_WQ_INS0_PRIORITY};
+static constexpr wq_config_t INS1{"wq:INS1", CONFIG_WQ_INS_STACKSIZE, (int8_t)CONFIG_WQ_INS1_PRIORITY};
+static constexpr wq_config_t INS2{"wq:INS2", CONFIG_WQ_INS_STACKSIZE, (int8_t)CONFIG_WQ_INS2_PRIORITY};
+static constexpr wq_config_t INS3{"wq:INS3", CONFIG_WQ_INS_STACKSIZE, (int8_t)CONFIG_WQ_INS3_PRIORITY};
 
-static constexpr wq_config_t hp_default{"wq:hp_default", 2800, -18};
+static constexpr wq_config_t hp_default{"wq:hp_default", CONFIG_WQ_HP_DEFAULT_STACKSIZE, (int8_t)CONFIG_WQ_HP_DEFAULT_PRIORITY};
 
-static constexpr wq_config_t uavcan{"wq:uavcan", 3624, -19};
+static constexpr wq_config_t uavcan{"wq:uavcan", CONFIG_WQ_UAVCAN_STACKSIZE, (int8_t)CONFIG_WQ_UAVCAN_PRIORITY};
 
-static constexpr wq_config_t ttyS0{"wq:ttyS0", 1728, -21};
-static constexpr wq_config_t ttyS1{"wq:ttyS1", 1728, -22};
-static constexpr wq_config_t ttyS2{"wq:ttyS2", 1728, -23};
-static constexpr wq_config_t ttyS3{"wq:ttyS3", 1728, -24};
-static constexpr wq_config_t ttyS4{"wq:ttyS4", 1728, -25};
-static constexpr wq_config_t ttyS5{"wq:ttyS5", 1728, -26};
-static constexpr wq_config_t ttyS6{"wq:ttyS6", 1728, -27};
-static constexpr wq_config_t ttyS7{"wq:ttyS7", 1728, -28};
-static constexpr wq_config_t ttyS8{"wq:ttyS8", 1728, -29};
-static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
-static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
-static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};
+static constexpr wq_config_t ttyS0{"wq:ttyS0", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S0_PRIORITY};
+static constexpr wq_config_t ttyS1{"wq:ttyS1", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S1_PRIORITY};
+static constexpr wq_config_t ttyS2{"wq:ttyS2", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S2_PRIORITY};
+static constexpr wq_config_t ttyS3{"wq:ttyS3", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S3_PRIORITY};
+static constexpr wq_config_t ttyS4{"wq:ttyS4", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S4_PRIORITY};
+static constexpr wq_config_t ttyS5{"wq:ttyS5", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S5_PRIORITY};
+static constexpr wq_config_t ttyS6{"wq:ttyS6", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S6_PRIORITY};
+static constexpr wq_config_t ttyS7{"wq:ttyS7", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S7_PRIORITY};
+static constexpr wq_config_t ttyS8{"wq:ttyS8", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S8_PRIORITY};
+static constexpr wq_config_t ttyS9{"wq:ttyS9", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_S9_PRIORITY};
+static constexpr wq_config_t ttyACM0{"wq:ttyACM0", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_ACM0_PRIORITY};
+static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", CONFIG_WQ_TTY_STACKSIZE, (int8_t)CONFIG_WQ_TTY_UNKNOWN_PRIORITY};
 
-static constexpr wq_config_t lp_default{"wq:lp_default", 3500, -50};
+static constexpr wq_config_t lp_default{"wq:lp_default", CONFIG_WQ_LP_DEFAULT_STACKSIZE, (int8_t)CONFIG_WQ_LP_DEFAULT_PRIORITY};
 
 static constexpr wq_config_t test1{"wq:test1", 2000, 0};
 static constexpr wq_config_t test2{"wq:test2", 2000, 0};
 
+
 } // namespace wq_configurations
 
 /**
diff --git a/platforms/common/px4_work_queue/Kconfig b/platforms/common/px4_work_queue/Kconfig
new file mode 100644
index 0000000000..63b68f0269
--- /dev/null
+++ b/platforms/common/px4_work_queue/Kconfig
@@ -0,0 +1,317 @@
+#
+# Work Queue Configuration
+#
+
+menu "Work Queue Configuration"
+
+config WQ_RATE_CTRL_STACKSIZE
+	int "Stack size for wq:rate_ctrl"
+	default 3150
+	range 1000 10000
+	help
+	  Sets the stack size in bytes for the rate_ctrl work queue.
+
+config WQ_RATE_CTRL_PRIORITY
+	int "Relative priority for wq:rate_ctrl"
+	default 0
+	range -255 0
+	help
+	  Sets the relative priority for the rate_ctrl work queue.
+
+menu "SPI Bus Work Queues"
+
+config WQ_SPI_STACKSIZE
+	int "Stack size for SPI work queues"
+	default 2392
+	range 1000 10000
+	help
+	  Sets the stack size for all SPI work queues (SPI0-SPI6).
+
+config WQ_SPI0_PRIORITY
+	int "Relative priority for wq:SPI0"
+	default -1
+	range -255 0
+	help
+	  Sets the relative priority for the SPI0 work queue.
+
+config WQ_SPI1_PRIORITY
+	int "Relative priority for wq:SPI1"
+	default -2
+	range -255 0
+	help
+	  Sets the relative priority for the SPI1 work queue.
+
+config WQ_SPI2_PRIORITY
+	int "Relative priority for wq:SPI2"
+	default -3
+	range -255 0
+	help
+	  Sets the relative priority for the SPI2 work queue.
+
+config WQ_SPI3_PRIORITY
+	int "Relative priority for wq:SPI3"
+	default -4
+	range -255 0
+	help
+	  Sets the relative priority for the SPI3 work queue.
+
+config WQ_SPI4_PRIORITY
+	int "Relative priority for wq:SPI4"
+	default -5
+	range -255 0
+	help
+	  Sets the relative priority for the SPI4 work queue.
+
+config WQ_SPI5_PRIORITY
+	int "Relative priority for wq:SPI5"
+	default -6
+	range -255 0
+	help
+	  Sets the relative priority for the SPI5 work queue.
+
+config WQ_SPI6_PRIORITY
+	int "Relative priority for wq:SPI6"
+	default -7
+	range -255 0
+	help
+	  Sets the relative priority for the SPI6 work queue.
+
+endmenu # SPI Bus Work Queues
+
+menu "I2C Bus Work Queues"
+
+config WQ_I2C_STACKSIZE
+	int "Stack size for I2C work queues"
+	default 2336
+	range 1000 10000
+	help
+	  Sets the stack size for all I2C work queues (I2C0-I2C4).
+
+config WQ_I2C0_PRIORITY
+	int "Relative priority for wq:I2C0"
+	default -8
+	range -255 0
+	help
+	  Sets the relative priority for the I2C0 work queue.
+
+config WQ_I2C1_PRIORITY
+	int "Relative priority for wq:I2C1"
+	default -9
+	range -255 0
+	help
+	  Sets the relative priority for the I2C1 work queue.
+
+config WQ_I2C2_PRIORITY
+	int "Relative priority for wq:I2C2"
+	default -10
+	range -255 0
+	help
+	  Sets the relative priority for the I2C2 work queue.
+
+config WQ_I2C3_PRIORITY
+	int "Relative priority for wq:I2C3"
+	default -11
+	range -255 0
+	help
+	  Sets the relative priority for the I2C3 work queue.
+
+config WQ_I2C4_PRIORITY
+	int "Relative priority for wq:I2C4"
+	default -12
+	range -255 0
+	help
+	  Sets the relative priority for the I2C4 work queue.
+
+endmenu # I2C Bus Work Queues
+
+config WQ_NAV_AND_CONTROLLERS_STACKSIZE
+	int "Stack size for nav_and_controllers"
+	default 2240
+	range 1000 10000
+	help
+	  Sets the stack size for the nav_and_controllers work queue.
+
+config WQ_NAV_AND_CONTROLLERS_PRIORITY
+	int "Relative priority for nav_and_controllers"
+	default -13
+	range -255 0
+	help
+	  Sets the relative priority for the nav_and_controllers work queue.
+
+menu "INS Work Queues"
+
+config WQ_INS_STACKSIZE
+	int "Stack size for INS work queues"
+	default 6000
+	range 1000 10000
+	help
+	  Sets the stack size for all INS work queues (INS0-INS3).
+
+config WQ_INS0_PRIORITY
+	int "Relative priority for wq:INS0"
+	default -14
+	range -255 0
+	help
+	  Sets the relative priority for the INS0 work queue.
+
+config WQ_INS1_PRIORITY
+	int "Relative priority for wq:INS1"
+	default -15
+	range -255 0
+	help
+	  Sets the relative priority for the INS1 work queue.
+
+config WQ_INS2_PRIORITY
+	int "Relative priority for wq:INS2"
+	default -16
+	range -255 0
+	help
+	  Sets the relative priority for the INS2 work queue.
+
+config WQ_INS3_PRIORITY
+	int "Relative priority for wq:INS3"
+	default -17
+	range -255 0
+	help
+	  Sets the relative priority for the INS3 work queue.
+
+endmenu # INS Work Queues
+
+config WQ_HP_DEFAULT_STACKSIZE
+	int "Stack size for hp_default"
+	default 2800
+	range 1000 10000
+	help
+	  Sets the stack size for the hp_default work queue.
+
+config WQ_HP_DEFAULT_PRIORITY
+	int "Relative priority for hp_default"
+	default -18
+	range -255 0
+	help
+	  Sets the relative priority for the hp_default work queue.
+
+config WQ_UAVCAN_STACKSIZE
+	int "Stack size for uavcan"
+	default 3624
+	range 1000 10000
+	help
+	  Sets the stack size for the uavcan work queue.
+
+config WQ_UAVCAN_PRIORITY
+	int "Relative priority for wq:uavcan"
+	default -19
+	range -255 0
+	help
+	  Sets the relative priority for the uavcan work queue.
+
+menu "TTY Bus Work Queues"
+
+config WQ_TTY_STACKSIZE
+	int "Stack size for TTY work queues"
+	default 1728
+	range 1000 10000
+	help
+	  Sets the stack size for all TTY work queues.
+
+config WQ_TTY_S0_PRIORITY
+	int "Relative priority for wq:ttyS0"
+	default -21
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS0 work queue.
+
+config WQ_TTY_S1_PRIORITY
+	int "Relative priority for wq:ttyS1"
+	default -22
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS1 work queue.
+
+config WQ_TTY_S2_PRIORITY
+	int "Relative priority for wq:ttyS2"
+	default -23
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS2 work queue.
+
+config WQ_TTY_S3_PRIORITY
+	int "Relative priority for wq:ttyS3"
+	default -24
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS3 work queue.
+
+config WQ_TTY_S4_PRIORITY
+	int "Relative priority for wq:ttyS4"
+	default -25
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS4 work queue.
+
+config WQ_TTY_S5_PRIORITY
+	int "Relative priority for wq:ttyS5"
+	default -26
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS5 work queue.
+
+config WQ_TTY_S6_PRIORITY
+	int "Relative priority for wq:ttyS6"
+	default -27
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS6 work queue.
+
+config WQ_TTY_S7_PRIORITY
+	int "Relative priority for wq:ttyS7"
+	default -28
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS7 work queue.
+
+config WQ_TTY_S8_PRIORITY
+	int "Relative priority for wq:ttyS8"
+	default -29
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS8 work queue.
+
+config WQ_TTY_S9_PRIORITY
+	int "Relative priority for wq:ttyS9"
+	default -30
+	range -255 0
+	help
+	  Sets the relative priority for the ttyS9 work queue.
+
+config WQ_TTY_ACM0_PRIORITY
+	int "Relative priority for wq:ttyACM0"
+	default -31
+	range -255 0
+	help
+	  Sets the relative priority for the ttyACM0 work queue.
+
+config WQ_TTY_UNKNOWN_PRIORITY
+	int "Relative priority for wq:ttyUnknown"
+	default -32
+	range -255 0
+	help
+	  Sets the relative priority for the ttyUnknown work queue.
+
+endmenu # TTY Bus Work Queues
+
+config WQ_LP_DEFAULT_STACKSIZE
+	int "Stack size for lp_default"
+	default 3500
+	range 1000 10000
+	help
+	  Sets the stack size for the lp_default work queue.
+
+config WQ_LP_DEFAULT_PRIORITY
+	int "Relative priority for wq:lp_default"
+	default -50
+	range -255 0
+	help
+	  Sets the relative priority for the lp_default work queue.
+
+endmenu # Work Queue Configuration